SPURS2 Aug16 * SG191 * Dive index * Mission links * Dive 704 * Raw log
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• Previous call tries 1 • 267.24 of 350.00 AH used of 24V (23.65% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.4 deg, depth 1.05 m • Intended pitch -16.6 deg, speed -7.857 cm/s
• VBD pumped to 515.38 (SM_CC=515)
• GPS1 time: 58 s
• GPS2 time: 10 s • Transponder ping count: 1
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 113 VBD -0.84 - - 153 - - - 1790 - -116.8 -82.40 - 3189 - - - - - - - - 14.47 - 14.49
118 5.1 -7.1 3 142 roll -0.84 12.55 0.383 2660 199.8 2.72 2.034 370 -522.1 -116.8 -1.12 - 3273 -75.0 - - - - - - - 13.98 12.71 14.38
207 38.2 -25.6 16 214 done -0.44 0.55 0.275 2777 212.7 2.33 0.033 1752 593.1 -116.8 - - 3272 - - - - - - - - 13.79 14.31 14.11
537 76.2 -7.1 30 544 roll -0.44 - - 2778 - 2.45 0.054 365 -566.1 -116.8 - - 3274 - - - - - - - - 14.57 14.17 14.59
642 84.4 -8.1 45 650 done -0.44 - - 2771 - 2.40 0.030 1785 591.7 -116.8 - - 3272 - - - - - - - - 14.25 14.22 14.26
988 112.9 -9.4 56 995 roll -0.44 - - 2771 - 2.53 0.054 366 -560.9 -116.8 - - 3274 - - - - - - - - 14.61 14.11 14.63
1086 123.0 -9.4 70 1093 done -0.44 - - 2761 - 2.38 0.030 1781 594.5 -116.8 - - 3274 - - - - - - - - 14.32 14.26 14.34
1439 144.1 -5.5 78 1447 roll -0.44 - - 2751 - 2.42 0.051 3166 572.3 -116.8 - - 3274 - - - - - - - - 14.58 14.12 14.60
1614 155.6 -7.4 102 1621 done -0.44 0.15 0.226 2782 206.7 2.40 0.036 1761 -585.4 -116.8 - - 3273 - - - - - - - - 13.81 14.19 14.06
1954 181.8 -7.7 115 1960 roll -0.56 - - 2779 - 2.47 0.057 376 -560.7 -116.8 - - 3274 - - - - - - - - 14.58 14.08 14.60
2017 186.8 -7.8 124 2024 done -0.67 0.20 0.099 2704 -375.0 2.35 0.031 1777 596.2 -116.8 - - 3269 - - - - - - - - 14.06 14.24 14.15
2347 219.6 -10.2 136 2354 roll -0.67 - - 2694 - 2.42 0.052 3162 572.3 -116.8 - - 3267 - - - - - - - - 14.62 14.00 14.63
2447 229.7 -10.1 150 2454 done -0.67 - - 2700 - 2.40 0.037 1773 -578.8 -116.8 - - 3266 - - - - - - - - 14.25 14.17 14.28
2798 267.8 -10.8 158 2812 roll -0.67 - - 2694 - 2.50 0.059 378 -558.0 -116.8 - - 3264 - - - - - - - - 14.69 14.06 14.71
2918 280.1 -9.9 174 2931 done -0.67 - - 2684 - 2.38 0.033 1771 585.3 -116.8 - - 3262 - - - - - - - - 14.27 14.21 14.29
3263 312.8 -9.5 187 3277 roll -0.67 0.12 0.274 2703 158.3 2.47 0.050 3172 567.2 -116.8 - - 3258 - - - - - - - - 13.74 13.91 13.81
3347 320.4 -8.6 198 3361 done -0.67 - - 2703 - 2.45 0.038 1773 -571.0 -116.8 - - 3260 - - - - - - - - 14.21 14.12 14.23
3671 349.9 -9.3 208 3685 roll -0.67 - - 2702 - 2.55 0.060 368 -551.0 -116.8 - - 3257 - - - - - - - - 14.71 13.96 14.72
3741 357.2 -10.1 217 3755 done -0.67 - - 2693 - 2.40 0.032 1773 585.4 -116.8 - - 3257 - - - - - - - - 14.24 14.19 14.28
4078 390.8 -10.1 229 4091 roll -0.67 - - 2683 - 2.45 0.052 3164 567.8 -116.8 - - 3255 - - - - - - - - 14.67 14.00 14.69
4149 398.2 -10.3 238 4163 done -0.67 0.12 0.252 2706 191.7 2.42 0.037 1763 -578.9 -116.8 - - 3255 - - - - - - - - 13.64 14.09 13.90
4487 431.9 -10.1 250 4500 roll -0.67 - - 2707 - 2.53 0.060 375 -548.6 -116.8 - - 3252 - - - - - - - - 14.67 13.93 14.69
4643 448.5 -10.6 271 4656 done -0.67 - - 2700 - 2.40 0.031 1775 583.3 -116.8 - - 3251 - - - - - - - - 14.22 14.15 14.24
5007 486.7 -10.4 280 5021 roll -0.67 - - 2689 - 2.47 0.052 3169 564.4 -116.8 - - 3250 - - - - - - - - 14.71 13.95 14.73
5072 493.2 -10.3 288 5086 done -0.67 - - 2689 - 2.42 0.037 1772 -577.3 -116.8 - - 3249 - - - - - - - - 14.16 14.08 14.20
5416 528.8 -10.2 301 5429 roll -0.67 - - 2689 - 2.55 0.060 375 -547.8 -116.8 - - 3248 - - - - - - - - 14.65 13.93 14.68
5543 542.1 -10.3 318 5557 done -0.67 0.15 0.258 2708 126.7 2.42 0.032 1785 582.6 -116.8 - - 3247 - - - - - - - - 13.54 14.14 13.83
5882 571.0 -8.5 330 5895 roll -0.67 - - 2699 - 2.47 0.055 3169 560.3 -116.8 - - 3245 - - - - - - - - 14.64 13.93 14.67
5931 575.3 -8.3 336 5944 done -0.67 - - 2700 - 2.42 0.039 1781 -573.6 -116.8 - - 3245 - - - - - - - - 14.16 14.06 14.19
6290 605.7 -8.6 344 6303 roll -0.67 - - 2700 - 2.58 0.060 373 -545.7 -116.8 - - 3244 - - - - - - - - 14.69 13.90 14.71
6402 616.2 -9.1 359 6416 done -0.67 - - 2691 - 2.45 0.033 1780 574.3 -116.8 - - 3243 - - - - - - - - 14.18 14.12 14.21
6746 647.0 -9.1 366 6759 roll -0.67 - - 2680 - 2.47 0.055 3161 559.1 -116.8 - - 3242 - - - - - - - - 14.70 13.92 14.72
6811 652.9 -9.4 374 6825 done -0.67 0.15 0.249 2709 193.3 2.45 0.037 1767 -569.0 -116.8 - - 3244 - - - - - - - - 13.57 14.05 13.85
7155 682.3 -8.4 387 7169 roll -0.67 - - 2710 - 2.55 0.063 379 -544.3 -116.8 - - 3240 - - - - - - - - 14.64 13.93 14.64
7290 694.0 -8.6 405 7303 done -0.67 - - 2703 - 2.42 0.032 1774 576.4 -116.8 - - 3240 - - - - - - - - 14.18 14.12 14.20
7619 722.7 -8.8 416 7633 roll -0.67 - - 2692 - 2.50 0.054 3167 557.2 -116.8 - - 3238 - - - - - - - - 14.64 13.94 14.66
7724 732.2 -8.8 430 7738 done -0.67 - - 2692 - 2.45 0.039 1773 -569.0 -116.8 - - 3238 - - - - - - - - 14.12 14.03 14.16
8084 765.5 -9.4 438 8097 roll -0.67 - - 2692 - 2.58 0.062 376 -541.5 -116.8 - - 3237 - - - - - - - - 14.62 13.90 14.64
8230 780.5 -10.0 458 8244 done -0.67 0.12 0.268 2706 116.7 2.42 0.033 1773 577.3 -116.8 - - 3234 - - - - - - - - 13.55 14.09 13.81
8604 813.4 -8.8 468 8618 roll -0.67 - - 2698 - 2.50 0.054 3165 556.8 -116.8 - - 3235 - - - - - - - - 14.62 13.91 14.64
8668 819.1 -8.8 476 8681 done -0.67 - - 2697 - 2.45 0.038 1772 -568.6 -116.8 - - 3235 - - - - - - - - 14.10 14.01 14.13
9013 849.0 -8.7 489 9026 roll -0.67 - - 2697 - 2.58 0.063 376 -541.1 -116.8 - - 3233 - - - - - - - - 14.62 13.90 14.64
9077 855.4 -9.2 497 9090 done -0.67 - - 2688 - 2.42 0.034 1773 577.3 -116.8 - - 3234 - - - - - - - - 14.16 14.09 14.19
9420 885.5 -9.0 510 9433 roll -0.67 - - 2677 - 2.53 0.056 3173 553.4 -116.8 - - 3232 - - - - - - - - 14.67 13.89 14.70
9492 891.9 -9.0 519 9505 done -0.67 0.15 0.255 2706 193.3 2.47 0.040 1774 -566.4 -116.8 - - 3236 - - - - - - - - 13.54 14.02 13.82
9829 919.4 -8.1 531 9842 roll -0.67 - - 2706 - 2.60 0.063 372 -539.2 -116.8 - - 3232 - - - - - - - - 14.62 13.92 14.64
9963 930.8 -8.5 549 9976 done -0.67 - - 2699 - 2.47 0.034 1786 572.5 -116.8 - - 3231 - - - - - - - - 14.14 14.07 14.17
10293 958.2 -8.3 560 10306 roll -0.67 - - 2689 - 2.50 0.056 3164 551.2 -116.8 - - 3231 - - - - - - - - 14.64 13.93 14.64
10348 962.8 -8.2 567 10363 done -0.67 - - 2689 - 2.47 0.038 1773 -563.2 -116.8 - - 3230 - - - - - - - - 14.09 14.00 14.12
10688 end dive: TARGET_DEPTH_EXCEEDED
10688 begin apogee
10700 992.4 -8.6 574 10830 done -0.21 0.70 0.239 2854 235.7 - - 1665 - - 119.97 2.202 2794 -3.6 0.326 - - - - - - 13.63 13.76 12.90
10832 end apogee: CONTROL_FINISHED_OK
10832 begin climb
10836 996.3 - 576 10985 roll 0.84 1.23 0.164 3192 274.8 2.67 0.045 3067 525.1 116.8 128.55 2.156 2308 -3.8 0.348 - - - - - - 13.60 13.00 12.31
11036 985.7 8.2 608 11049 done 0.84 - - 3200 - 2.58 0.039 1685 -535.7 116.8 - - 2298 - - - - - - - - 13.45 13.36 13.48
11383 957.6 8.1 621 11396 roll 0.84 - - 3200 - 2.45 0.047 3070 565.3 116.8 - - 2296 - - - - - - - - 14.51 14.15 14.53
11425 953.9 10.0 626 11438 done 0.84 - - 3209 - 2.42 0.040 1679 -574.8 116.8 - - 2295 - - - - - - - - 14.28 14.18 14.31
11789 924.4 8.0 635 11803 roll 0.84 - - 3220 - 2.45 0.066 324 -553.1 116.8 - - 2295 - - - - - - - - 14.65 14.12 14.67
11855 919.0 8.6 643 11869 done 0.74 0.22 0.249 3173 -213.6 2.33 0.028 1724 600.9 116.8 - - 2295 - - - - - - - - 13.79 14.27 14.15
12199 896.6 6.3 656 12241 roll 0.77 - - 3173 - 2.28 0.050 3038 576.3 145.3 28.67 2.033 2191 -3.6 0.319 - - - - - - 14.62 14.34 13.50
12325 888.4 7.0 673 12355 done 0.79 - - 3178 - 2.40 0.041 1671 -569.6 160.9 14.95 2.025 2131 -4.0 0.351 - - - - - - 14.27 14.19 13.39
12707 860.0 7.4 686 12724 roll 0.80 - - 3189 - 2.45 0.066 328 -548.2 169.4 3.08 1.030 2102 -9.4 1.567 - - - - - - 14.61 14.17 13.31
12775 854.8 7.4 695 12804 done 0.81 - - 3189 - 2.25 0.030 1668 595.6 177.2 15.30 2.008 2067 -2.3 0.194 - - - - - - 14.37 14.35 13.54
13162 824.2 7.7 708 13176 roll 0.82 - - 3189 - 2.42 0.047 3053 572.3 179.9 - - 2056 - - - - - - - - 14.59 14.16 14.62
13297 813.3 8.0 726 13310 done 0.82 - - 3197 - 2.40 0.041 1678 -572.9 179.9 - - 2055 - - - - - - - - 14.30 14.21 14.33
13626 787.8 7.7 737 13644 roll 0.82 - - 3206 - 2.53 0.065 316 -538.3 183.2 1.67 0.169 2040 -9.0 8.343 - - - - - - 14.59 14.15 14.07
13695 782.4 8.4 746 13709 done 0.82 - - 3206 - 2.30 0.029 1680 593.0 183.2 - - 2043 - - - - - - - - 14.33 14.28 14.35
14032 755.8 7.9 758 14045 roll 0.82 - - 3206 - 2.42 0.047 3054 567.8 183.2 - - 2043 - - - - - - - - 14.59 14.04 14.61
14130 747.8 8.1 771 14143 done 0.82 - - 3215 - 2.42 0.041 1678 -568.6 183.2 - - 2043 - - - - - - - - 14.20 14.11 14.23
14496 716.4 8.8 780 14509 roll 0.82 - - 3225 - 2.50 0.064 323 -542.0 183.2 - - 2040 - - - - - - - - 14.57 13.97 14.58
14545 711.4 9.8 786 14559 done 0.82 0.15 0.245 3196 -193.3 2.33 0.028 1698 590.1 183.2 - - 2043 - - - - - - - - 13.65 14.18 13.93
14903 680.3 8.7 794 14916 roll 0.82 - - 3196 - 2.40 0.047 3045 561.2 183.2 - - 2043 - - - - - - - - 14.63 13.97 14.66
14975 673.9 8.9 803 14988 done 0.82 - - 3203 - 2.40 0.041 1680 -568.8 183.2 - - 2042 - - - - - - - - 14.15 14.06 14.19
15311 643.7 9.0 815 15324 roll 0.82 - - 3213 - 2.50 0.065 323 -542.8 183.2 - - 2043 - - - - - - - - 14.60 13.98 14.60
15362 639.1 9.4 821 15375 done 0.82 - - 3214 - 2.28 0.028 1665 588.6 183.2 - - 2046 - - - - - - - - 14.22 14.19 14.24
15719 606.9 8.9 829 15733 roll 0.82 - - 3213 - 2.47 0.047 3054 562.3 183.2 - - 2043 - - - - - - - - 14.63 13.93 14.64
15839 596.2 8.9 845 15853 done 0.82 - - 3221 - 2.42 0.040 1680 -567.8 183.2 - - 2043 - - - - - - - - 14.12 14.05 14.15
16185 566.7 8.5 858 16198 roll 0.82 - - 3232 - 2.50 0.064 321 -543.6 183.2 - - 2043 - - - - - - - - 14.62 13.93 14.64
16254 560.1 9.3 867 16268 done 0.82 0.17 0.239 3196 -211.8 2.33 0.028 1703 593.1 183.2 - - 2043 - - - - - - - - 13.54 14.13 13.85
16593 535.6 7.2 879 16628 roll 0.84 - - 3197 - 2.38 0.048 3044 563.4 196.1 17.67 1.680 1987 -3.2 0.201 - - - - - - 14.57 14.33 13.59
16692 528.0 7.7 893 16705 done 0.84 - - 3203 - 2.38 0.041 1683 -571.8 199.0 - - 1982 - - - - - - - - 14.31 14.22 14.33
17051 499.6 8.1 901 17064 roll 0.84 - - 3212 - 2.50 0.065 319 -545.6 199.0 - - 1982 - - - - - - - - 14.59 14.07 14.61
17102 495.0 9.1 907 17115 done 0.84 - - 3212 - 2.28 0.030 1668 591.7 199.0 - - 1982 - - - - - - - - 14.33 14.27 14.35
17459 463.6 8.8 915 17473 roll 0.84 - - 3213 - 2.45 0.047 3051 564.5 199.0 - - 1982 - - - - - - - - 14.62 14.02 14.64
17594 451.1 9.4 933 17607 done 0.84 - - 3221 - 2.42 0.040 1677 -567.8 199.0 - - 1981 - - - - - - - - 14.20 14.10 14.23
17923 420.1 9.4 944 17936 roll 0.84 - - 3231 - 2.50 0.064 322 -542.0 199.0 - - 1982 - - - - - - - - 14.58 13.97 14.59
17995 412.9 10.3 953 18008 done 0.84 0.15 0.239 3204 -180.0 2.30 0.028 1692 595.7 199.0 - - 1980 - - - - - - - - 13.62 14.14 13.90
18331 384.4 8.3 965 18345 roll 0.84 - - 3202 - 2.40 0.047 3042 562.5 199.0 - - 1982 - - - - - - - - 14.59 14.00 14.60
18395 379.0 8.4 973 18408 done 0.84 - - 3207 - 2.40 0.040 1682 -566.7 199.0 - - 1982 - - - - - - - - 14.12 14.03 14.16
18740 351.0 8.2 986 18753 done 0.84 - - 3207 - - - 1680 - 199.0 - - 1982 - - - - - - - - 14.63 14.64 14.64
19075 324.4 7.8 992 19088 done 0.84 - - 3207 - - - 1680 - 199.2 - - 1982 - - - - - - - - 14.63 14.66 14.65
19412 299.6 7.3 998 19436 done 0.85 - - 3207 - - - 1680 - 209.4 14.32 1.389 1937 -3.1 0.135 - - - - - - 14.59 14.41 13.69
19747 272.9 8.1 1004 19760 roll 0.85 - - 3207 - 2.40 0.046 3042 567.5 209.4 - - 1925 - - - - - - - - 14.64 14.12 14.66
19775 270.4 8.4 1007 19788 done 0.85 - - 3215 - 2.40 0.041 1677 -568.8 209.4 - - 1925 - - - - - - - - 14.26 14.16 14.30
20099 242.7 8.6 1017 20112 roll 0.85 - - 3225 - 2.50 0.064 317 -544.0 209.4 - - 1925 - - - - - - - - 14.56 13.97 14.58
20163 236.9 9.2 1025 20176 done 0.85 - - 3225 - 2.28 0.028 1669 593.0 209.4 - - 1925 - - - - - - - - 14.23 14.19 14.26
20506 205.8 9.1 1038 20520 roll 0.85 - - 3225 - 2.45 0.046 3053 564.9 209.4 - - 1925 - - - - - - - - 14.58 13.97 14.60
20585 198.5 9.4 1048 20598 done 0.85 - - 3234 - 2.45 0.040 1672 -563.7 209.4 - - 1925 - - - - - - - - 14.15 14.06 14.20
20917 169.6 8.6 1059 20930 roll 0.85 0.12 0.252 3206 -233.3 2.47 0.042 3054 559.5 209.4 - - 1925 - - - - - - - - 13.61 13.78 13.69
20946 167.1 8.4 1062 20960 done 0.85 - - 3212 - 2.42 0.040 1680 -567.8 209.4 - - 1925 - - - - - - - - 14.14 14.05 14.19
21269 140.8 8.3 1072 21282 roll 0.85 - - 3222 - 2.50 0.063 319 -544.4 209.4 - - 1925 - - - - - - - - 14.59 13.96 14.60
21360 132.4 9.1 1084 21373 done 0.85 - - 3223 - 2.30 0.028 1673 588.7 209.4 - - 1924 - - - - - - - - 14.09 14.04 14.11
21733 104.9 7.0 1094 21760 roll 0.87 - - 3223 - 2.45 0.047 3061 566.5 225.5 11.27 0.334 1875 -4.3 0.272 - - - - - - 14.57 14.23 13.96
21781 101.0 7.9 1101 21796 done 0.87 - - 3230 - 2.45 0.041 1673 -566.5 225.5 2.58 0.163 1873 - - - - - - - - 14.19 14.10 13.97
22099 77.8 7.7 1112 22116 roll 0.87 - - 3241 - 2.40 0.061 321 -563.3 228.1 4.88 0.207 1868 -1.0 0.077 - - - - - - 14.57 14.12 13.88
22249 67.2 5.9 1133 22301 done 0.92 - - 3241 - 2.30 0.028 1690 595.2 264.3 38.00 0.296 1719 -3.9 0.177 - - - - - - 14.30 14.25 14.12
22613 46.9 5.7 1151 22667 roll 1.13 0.12 0.125 3309 566.7 2.42 0.061 321 -565.7 303.9 37.90 0.242 1553 -4.4 0.169 - - - - - - 14.19 14.25 14.08
22700 40.8 7.7 1163 22717 done 1.22 - - 3310 - 2.28 0.028 1696 603.1 307.4 4.80 0.193 1539 -2.9 0.123 - - - - - - 14.33 14.28 13.90
23049 25.8 4.6 1178 23113 roll 1.41 0.20 0.093 3391 405.0 2.30 0.045 3046 587.0 367.9 50.88 0.185 1294 -4.8 0.134 - - - - - - 14.11 14.42 14.15
23148 17.9 8.8 1192 23161 done 1.41 - - 3399 - 2.35 0.038 1678 -582.1 367.9 - - 1301 - - - - - - - - 14.31 14.23 14.34
23333 end climb: SURFACE_DEPTH_REACHED
23333 begin surface coast
23361 end surface coast: CONTROL_FINISHED_OK
23361 begin surface
SM 1.04 - - - - -8.61 9.88 0.067 157 15.9 0.08 0.132 1774 9300.0 515.38 89.85 0.122 691 7.7 -0.007 - - - - - -